STREAM - Sub-THz Radar sensing of the Environment for future Autonomous Marine platforms: Multi-Perspective Sensing - Maritime Environment - Front-looking Perspective

This dataset contains the files corresponding to which results have been included in the journal paper titled 'High-Resolution Multi-Modal Sensing of Distributed Radar Network'. The full description of the conducted trials and data structure is mentioned in the attached PDF document.

The trials were conducted at the Gosport Marina, Portsmouth, UK with a sea state of approximately 3 according to the Douglas Scale.

The experiments were performed with automotive radars operating in the 79 GHz band to investigate the Doppler and imaging capabilities of these radars. A multi-sensory suite distributed around Valkyrie VI was mounted in front, corner, side and backward-looking orientations.

This dataset contains data from the front-looking orientation, where the installation angle of radar is 0 degrees respective to the platform velocity vector.

Radar Data:

The radar data is stored in the file 'GM2_Lab_240522_160943.h5'. The methodology to process the data in MATLAB is presented in the attached pdf. document.

Inertial Measurement Unit:

Three xSens 680G IMU were mounted on the roof, front and back of the boat. They have been included in the corresponding zip folders.

PC3_Corner_RLG: IMU at the corner of the boat.

PC4_Forward_RLG: IMU at the roof of the boat.

PC5_Backward_RLG: IMU at the back of the boat.

The IMU data is converted to .txt files that can be directly loaded into MATLAB.

Timestamped Velocity:

The file 'Front_160943.mat' contains the time-stamped velocity for each radar frame. Here, the integration interval is 128 ms with 512 radar chirps.

The file 'CommonFramesFront_160943.mat' contains the timestamped velocity for the frames that are synchronised with the frames of side-looking radar.

(The dataset for the side-looking radar is stored in another repository with DOI: 10.5281/zenodo.14174138)

Camera:

Each radar also has a camera for ground truth. The time-stamped camera frames for each radar frame are stored in 'CommonFramesFront_160943.mat'.

Processed camera frames and video of the scene are available in: 'GM2_Front_240522_160943_CameraFrames.zip'.

For more information, please contact:

Anum Pirkani: a.a.a.pirkani@bham.ac.uk, anum.apirkani@gmail.com

Marina Gashinova: m.s.gashinova@bham.ac.uk